JP4855912B2 - Endoscope insertion shape analysis system - Google Patents

Description

  The present invention relates to an endoscope insertion shape analysis system, and more particularly to an endoscope insertion shape analysis system that can detect extension of the large intestine due to an insertion portion of an endoscope inserted into a subject.

  Endoscopes have been widely used in the medical field and industrial field. In addition, in the medical field, for example, an endoscope is used when performing observation and various treatments on a living tissue or the like.

  Especially when inserting the insertion part of the endoscope from the anal side of the subject and performing observations and various treatments on the lower digestive tract, in order to smoothly insert the insertion part into the bent body cavity An endoscope insertion shape analysis system that can detect the position, bending state, and the like of the insertion portion in a body cavity is used in conjunction with the endoscope.

  As an apparatus having substantially the same function as the endoscope insertion shape detection system described above, there is an endoscope insertion shape analysis apparatus disclosed in Patent Document 1, for example.

In the endoscope insertion shape analyzing apparatus of Patent Document 1, the movement distance of the distal end portion of the endoscope inserted into the large intestine is less than or equal to a predetermined threshold value and is inserted into the large intestine within a predetermined period. In addition, when it is detected that the length of the insertion portion of the endoscope continues to increase, it has a function of determining that the large intestine is stretched.
JP 2004-358095 A

  In general, when the distal end portion of the endoscope reaches the spleen curved portion in the large intestine, the middle portion of the insertion portion of the endoscope pushes the intestinal tract, causing the large intestine to expand. However, the endoscope insertion shape analysis device of Patent Document 1 does not have a configuration for specifying in which position of the insertion portion of the endoscope the extension of the large intestine occurs. In some cases, the extension of the large intestine occurring in the middle part of the insertion part of the endoscope cannot be detected. As a result, the endoscope insertion shape analysis apparatus disclosed in Patent Document 1 has a problem that the user cannot smoothly perform the insertion operation of the insertion portion of the endoscope.

  The present invention has been made in view of the foregoing points, and an object of the present invention is to provide an endoscope insertion shape analysis system capable of making an insertion operation of an insertion portion of an endoscope smoother than in the past. It is said.

  The first endoscope insertion shape analysis system according to the present invention is an insertion shape detection that detects the insertion shape of the insertion portion based on the coordinate values of a plurality of locations in the insertion portion of the endoscope inserted into the subject. An insertion shape dividing unit that generates a line segment according to the insertion shape and sets a plurality of dividing points on the line segment, and the insertion unit based on a moving speed on a proximal end side of the insertion unit The moving speed that detects whether or not an insertion operation is performed on the image, and the coordinate value on a predetermined coordinate axis among the plurality of division points is locally maximal and fluctuates with the insertion operation. And an insertion stop point estimation unit that detects one division point having a transmission rate of less than a predetermined threshold.

  The second endoscope insertion shape analysis system according to the present invention is an insertion shape detection that detects the insertion shape of the insertion portion based on the coordinate values of a plurality of locations in the insertion portion of the endoscope inserted into the subject. An insertion shape dividing unit that generates a line segment according to the insertion shape and sets a plurality of dividing points on the line segment, and a moving speed in the insertion axis direction on the proximal end side of the insertion unit And detecting whether or not an insertion operation has been performed on the insertion portion, and among the plurality of division points, a coordinate value on a predetermined coordinate axis is locally maximal and fluctuates with the insertion operation. And an insertion stop point estimation unit that detects one division point where the local radius of curvature is less than a predetermined threshold value.

  The third endoscope insertion shape analysis system according to the present invention is the first or second endoscope insertion shape analysis system, wherein the large intestine in the subject extends at the one division point. A notification unit that performs processing for outputting notification information to the display unit to indicate that the information is present.

  According to the endoscope insertion shape analysis system of the present invention, the insertion operation of the insertion portion of the endoscope can be made smoother than before.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 8 relate to an embodiment of the present invention. FIG. 1 is a diagram illustrating an example of a configuration of a main part of a living body observation system according to an embodiment of the present invention. FIG. 2 is a diagram showing the coordinates of the source coil provided in the insertion portion of the endoscope of FIG. 1 detected by the endoscope insertion shape detecting device of FIG. FIG. 3A is a diagram illustrating an outline of insertion shape data generated in the endoscope insertion shape detection device of FIG. 1. FIG. 3B is a diagram showing an outline of data and information included in each frame data of FIG. 3A. FIG. 3C is a diagram showing an outline of the three-dimensional coordinate data included in the coil coordinate data of FIG. 3B. FIG. 4 is a flowchart showing an example of processing performed when an insertion stop point is detected in the image processing apparatus of FIG.

  FIG. 5 is a flowchart illustrating an example of processing performed when the insertion stop point detected by the series of processing in FIG. 4 is evaluated in the image processing apparatus in FIG. FIG. 6 is a diagram illustrating an example of the first marker displayed on the display in accordance with the processing result of the series of processing in FIG. 5. FIG. 7 is a diagram illustrating an example of the second marker displayed on the display in accordance with the processing result of the series of processes in FIG. 5. FIG. 8 is a flowchart showing an example different from FIG. 5 of the process performed when the insertion stop point detected by the series of processes of FIG. 4 is evaluated in the image processing apparatus of FIG.

As shown in FIG. 1, the living body observation system 1 detects an endoscope device 2 capable of observing the inside of a subject with the endoscope 6 and an insertion shape of the endoscope 6 inserted into the subject. In addition, an endoscope insertion shape detection device 3 that outputs the insertion shape as insertion shape data, and an image processing device 4 that performs various processes according to the insertion shape data output from the endoscope insertion shape detection device 3 , And is configured.
The endoscope device 2 can be inserted into a large intestine or the like existing inside a subject, and images an object inside the subject and outputs it as an imaging signal, and an illumination device for illuminating the object A light source device 7 that supplies illumination light to the endoscope 6, a video processor 8 that performs signal processing on an imaging signal output from the endoscope 6, and outputs it as a video signal, and an output from the video processor 8 And a monitor 9 that displays an image of a subject imaged by the endoscope 6 as an endoscopic observation image based on the video signal.

  The endoscope 6 includes an elongated insertion portion 11 that can be inserted into the subject, and an operation portion 12 provided at the rear end of the insertion portion 11. Inside the insertion portion 11, a light guide 13 is inserted so that one end side is disposed at the distal end portion 14 of the insertion portion 11 and the other end side is connectable to the light source device 7. Thereby, the illumination light supplied from the light source device 7 is emitted from an illumination window (not shown) provided at the distal end portion 14 of the insertion portion 11 via the light guide 13.

  A bending portion (not shown) configured to be bendable is provided on the rear end side of the distal end portion 14 of the insertion portion 11. The bending portion (not shown) can be bent by operating a bending operation knob (not shown) provided in the operation portion 12.

  At the distal end portion 14, an objective lens 15 is attached to an observation window (not shown) provided adjacent to an illumination window (not shown). In addition, an imaging surface of the imaging device 16 including a charge coupled device (abbreviated as CCD) is disposed at the imaging position of the objective lens 15.

  The image sensor 16 is connected to the video processor 8 via a signal line, photoelectrically converts the subject image formed by the objective lens 15 and outputs it to the video processor 8 as an imaging signal.

The video processor 8 performs signal processing for generating a video signal based on the imaging signal output from the imaging element 16. Then, the video processor 8 outputs, for example, an RGB signal, which is a video signal generated by the signal processing, to the monitor 9. Then, on the display surface of the monitor 9, an image of the subject imaged by the image sensor 16 is displayed as an endoscopic observation image.

  When the light source device 7 supplies field-sequential illumination light composed of R (red), G (green), and B (blue), the synchronization signal synchronized with the period during which each light is supplied is video. Assume that the data is output to the processor 8. At this time, the video processor 8 performs signal processing in synchronization with the synchronization signal output from the light source device 7.

  The operation unit 12 of the endoscope 6 is provided with a switch (not shown) that can give an instruction such as a release instruction in addition to the bending operation knob (not shown).

In addition, inside the insertion portion 11 of the endoscope 6, a plurality of source coils C ₀ , C ₁ ,..., C _M-1 (C _{0 to} C _M-1 and with a predetermined interval in the longitudinal direction) (Abbreviation) is arranged. The source coils C _{0 to} C _M-1 each generate a magnetic field in accordance with the drive signal output from the endoscope insertion shape detection device 3.

Then, the magnetic field emitted in the source coils C ₀ ~C _M-1 is equipped endoscope insertion shape detection apparatus 3, a plurality of sense coils is detected by the sense coil unit 19 incorporated.

The endoscope insertion shape detection device 3 includes a sense coil unit 19 that detects a magnetic field generated in source coils C _{0 to} C _M-1 provided in the endoscope 6, and a magnetic field detected by the sense coil unit 19. The shape processing device 21 that estimates the shape (insertion shape) of the insertion portion 11 based on the detection signal of FIG. 5 and the display 22 that displays the insertion shape estimated by the shape processing device 21 are configured.

The sense coil unit 19 is disposed in the periphery of the examination bed on which the patient lies, detects a magnetic field generated by the source coils C _{0 to} C _M−1 , and outputs the detected magnetic field to the shape processing device 21 as a detection signal.

The shape processing device 21 as the insertion shape detection unit calculates the position coordinate data of the source coils C _{0 to} C _M−1 based on the detection signal, and the insertion unit 11 based on the calculated position coordinate data. The insertion shape of is estimated. In addition, the shape processing device 21 generates a video signal of the estimated insertion shape of the insertion unit 11 and outputs, for example, an RGB signal, which is the generated video signal, to the display 22. As a result, the insertion shape of the insertion unit 11 is displayed as an image on the display screen of the display 22. Further, the shape processing device 21 continuously generates three-dimensional coordinate information indicating the insertion shape of the insertion unit 11 and insertion shape data such as a shape display attribute while the observation by the endoscope 6 is being performed. And output to the image processing device 4 via the communication port 21a.

  Note that the shape processing device 21 of the present embodiment can output only the insertion shape data when the release switch is operated, for example, to the image processing device 4.

  In addition, the endoscope insertion shape detection device 3 according to the present embodiment is generated by shape detection processing by the shape processing device 21 and then has a shape such as a rotation angle and an enlargement / reduction ratio of an insertion shape image displayed on the display 22. It is assumed that the display attribute can be changed by instructing and inputting on an operation panel (not shown).

  The video processor 8 has an operation panel (not shown) for inputting examination information, which is information such as a patient's name, date of birth, sex, age, patient code, and examination date. The inspection information input on the operation panel (not shown) is also transmitted to the image processing apparatus 4 via the communication port 8a.

  The image processing device 4 generates insertion auxiliary information that can assist or assist the user based on the insertion shape data output from the endoscope insertion shape detection device 3 and the examination information output from the video processor 8. A personal computer (hereinafter simply referred to as a PC) 25 for performing the analysis process of the computer, a mouse 26 and a keyboard 27 capable of giving various instructions and inputs to the PC 25, and notification information generated by the analysis process of the PC 25 are reproduced. Or it has the display 28 as a display part which can be displayed.

  The PC 25 outputs a communication port 25a that takes in insertion shape data output from the communication port 21a of the shape processing device 21 of the endoscope insertion shape detection device 3 and a communication port 8a of the video processor 8 of the endoscope device 2. A communication port 25b for fetching the inspection information, a moving image input board 25c for converting the video signal of the moving image generated by the video processor 8 into predetermined compressed image data, a CPU 31 for performing processing such as image processing, and the CPU 31 A processing program storage unit 32 storing a processing program used for the image processing, a memory 33 for temporarily storing data processed by the CPU 31, and a hard disk (for storing image data processed by the CPU 31). (Hereinafter simply referred to as HDD) 34. The units included in the PC 25 are connected to each other by a bus line 35.

  For example, a Y / C signal is input to the moving image input board 25c of the image processing apparatus 4 as a video signal of a moving image generated by the video processor 8. Then, the moving image input board 25c converts the moving image video signal into compressed moving image data using a predetermined compression format such as the MJPEG format, and converts the compressed moving image data to the hard disk 34 or the like. Output.

  The insertion shape data captured at the communication port 25a and the inspection information captured at the communication port 25b can be stored in the PC 25 by being output to the HDD 34, for example.

  In addition, the endoscope insertion shape analysis system of the present embodiment is configured to include the shape processing device 21 and the CPU 31 as main parts.

Here, a process performed when the endoscope insertion shape detection device 3 generates insertion shape data will be described.
The shape processing device 21 of the endoscope insertion shape detection device 3 is built in the insertion unit 11 of the endoscope 6 in accordance with the timing at which an imaging signal for one frame is output from the imaging device 16 of the endoscope 6. Insertion shape data including three-dimensional coordinates of _M source coils C _{0 to} C _M-1 is generated. The shape processing device 21 outputs the insertion shape data to the image processing device 4, generates an insertion shape image of the insertion unit 11 based on the insertion shape data, and sends the insertion shape image to the display 22. Output.

Note that the three-dimensional source coil Ci of the i-th (where i = 0, 1,..., M−1) from the distal end side of the insertion portion 11 in the j-th frame (where j = 0, 1, 2,...). The coordinates are shown as (X _i ^j , Y _i ^j , Z _i ^j ) as shown in FIG.

As shown in FIG. 3A, the insertion shape data including the coordinate system data of the source coils C _{0 to} C _M−1 detected by the endoscope insertion shape detection device 3 includes frame data (that is, first data 0 frame data, first frame data,...), Which are sequentially transmitted to the image processing apparatus 4. As shown in FIG. 3B, each frame data includes data such as the creation time of the insertion shape data, display attributes, attached information, and (three-dimensional) coordinates of the source coil.

In addition, as shown in FIG. 3C, the coil coordinate data includes three-dimensional coordinates of the source coils C _{0 to} C _M−1 sequentially arranged from the distal end side to the proximal end side (operation unit 12 side) of the insertion portion 11. It is the data shown. Note that the three-dimensional coordinates of the source coil outside the detection range by the endoscope insertion shape detection device 3 are, for example, predetermined coordinate values (for example, (0, 0, 0)) that indicate that they are outside the detection range. It shall be set.

  Next, the operation of the living body observation system 1 of the present embodiment will be described.

  When the insertion portion 11 of the endoscope 6 is inserted into the body cavity from the anal side of the subject by the user, the subject existing in the body cavity is imaged by the imaging element 16 provided at the distal end portion 14 of the insertion portion 11. Is done. The subject image picked up by the image pickup device 16 is output as an image pickup signal, subjected to signal processing by the video processor 8 and converted into a video signal, and then output to the monitor 9. Thereby, the image of the subject imaged by the image sensor 16 is displayed on the monitor 9 as an endoscopic observation image.

The endoscope insertion shape detection device 3 detects a magnetic field emitted from each of the source coils C _{0 to} C _M-1 in the sense coil unit 19 and inserts 11 based on a detection signal output according to the magnetic field. The shape processing apparatus 21 estimates the inserted shape. As a result, the insertion shape of the insertion unit 11 estimated by the shape processing device 21 is displayed on the display 22.

  The shape processing device 21 of the endoscope insertion shape detecting device 3 sequentially outputs frame data including position information of each source coil to the CPU 31 of the PC 25 of the image processing device 4 through the communication port 21a.

  The CPU 31 is based on the frame data sequentially output from the endoscope insertion shape detection device 3, where there is a factor that causes the user to stop the insertion operation of the insertion unit 11 among the insertion units 11 inserted into the subject. As a process for detecting an insertion stop point, an insertion stop point detection process shown in the flowchart of FIG. 4 is performed.

First, the CPU 31 as the insertion shape dividing unit applies, for example, an equation of a Catmull-Rom curve to the coil coordinate data included in the frame data sequentially output from the endoscope insertion shape detection device 3 to thereby detect the subject. Each of the source coil (source coil C ₀ ) arranged at the most distal end side in the insertion portion 11 inserted into the inside and the source coil arranged at the most proximal side in the insertion portion 11 inserted into the subject. While calculating the line segment according to the insertion state of the insertion part 11 formed with a source coil, this line segment is divided | segmented (step S1 of FIG. 4). Note that the CPU 31 divides the line segment according to the insertion state of the insertion unit 11 by, for example, n division points D _{1 to} D _{n in} the process of step S1 of FIG. 4 described above. In the present embodiment, each division point is set to D ₁ , D ₂ ,..., D _n−1 , D _n from the distal end side to the proximal end side. In addition, it is assumed that the division points are set to be equally spaced so that the distance between adjacent division points becomes a predetermined value d.

Further, the CPU 31 obtains the movement speeds V _{1 to} V _n at the _n division points D _{1 to} D _n from the division point coordinate values obtained from the past frame data, and the division point coordinate values obtained from the current frame data. The difference is calculated. Furthermore, the mobile CPU31 is the insertion axis direction of the n dividing points _D 1 to D _n to calculate the first derivative of the Catmull-Rom curve to the insertion axis direction of the n dividing points _D 1 to D _n By projecting the speeds V _{1 to} V _n , the moving speeds V _{a1 to} V _an in the insertion axis direction at the _n division points D _{1 to} D _n are calculated.

Next, the CPU 31 determines the moving speed V _an in the insertion axis direction of the n-th dividing point D _n existing on the proximal end side in the insertion portion 11 inserted into the subject among the dividing points D _{1 to} D _n. obtained by performing the above-described operation (step S2 in FIG. 4), then further the moving speed V _an, detects greater or not than the threshold T1 (T1> 0). Then, CPU 31 determines that if the moving speed V _an, is detected larger than the threshold T1 (step S3 in FIG. 4), the insertion operation on the insertion portion 11 has been made, the steps of FIG. 4 to be described later The process of S4 is continued. Further, CPU 31, when the moving speed V _an, is detected to be the threshold value T1 or less (step S3 in FIG. 4), determines that the insertion operation with respect to the insertion portion 11 is not made, inserted stop shown in FIG. 4 The point detection process ends.

In the present embodiments, n th moving speed V _an, in the insertion axis direction of the dividing point D _n it is assumed to be constant regardless of time.

CPU31 is in the process of step S3 in FIG. 4, after the moving speed _{V an,} is detected greater than a threshold T1, the dividing points _{D n-1} adjacent to the distal end portion 14 side from the dividing point _{D n} dividing points D _i is set (step S4 in FIG. 4).

Further, for example, the CPU 31 reads the model information of the endoscope 6 stored in at least one of the video processor 8, the memory 33, and the HDD 34, and based on the model information, the CPU 31 performs step S4 of FIG. dividing points D _i set in the process (not shown) of the insertion portion 11 detects whether or not present in the curved portion. Then, CPU 31 may divide point D _i is (not shown) of the insertion portion 11 when detecting the presence in the curved portion (step S5 in FIG. 4), the bendable position dividing points D _i is the operation of the user It is determined that there is, and the insertion stop point detection process shown in FIG. 4 is terminated. Further, CPU 31 is the dividing points D _i is (not shown) of the insertion portion 11 performs when it detects the absence of the curved section (step S5 in FIG. 4), the processing in step S6 in FIG. 4 continues.

CPU31 is in the process of step S5 in FIG. 4, the dividing points D _i is (not shown) of the insertion portion 11 detects the absence of the curved portion, then further movement velocity V of the insertion axis direction of the dividing points D _{i ai} is acquired (step S6 in FIG. 4), and it is detected whether or not the moving speed V _ai is less than the threshold value T2. Then, CPU 31 is possible that if the moving speed V _ai detects that is less than the threshold value T2 (step S7 in FIG. 4), a factor to stop the insertion operation of the insertion portion 11 by the user exists in the division points D _i 4 is determined, and the process of step S9 in FIG. Further, CPU 31, when detecting that the moving speed _{V ai} is the threshold value T2 or higher (step S7 in FIG. 4), sets the split point _{D i-1} adjacent to the distal end portion 14 side from the dividing point _{D i} ( Along with step S8 in FIG. 4, the processing from step S5 to step S7 in FIG. 4 is performed again on the dividing point D _i−1 .

CPU31 is in the process of step S7 in FIG. 4, after detecting that the moving speed _{V ai} is less than the threshold T2, the dividing points _{D i-1} adjacent to the distal end portion 14 side from the dividing point _{D i} dividing points D _k is set (step S9 in FIG. 4).

Further, the CPU 31 determines whether or not the dividing point _Dk set in the process of step S9 in FIG. 4 is present in the bending portion (not shown) of the insertion portion 11 based on the model information of the endoscope 6 described above. To detect. Then, CPU 31 may divide point D _k is (not shown) of the insertion portion 11 when detecting the presence in the curved portion (step S10 in FIG. 4), the bendable position dividing point D _k is the operation of the user It is determined that there is, and the insertion stop point detection process shown in FIG. 4 is terminated. On the other hand, when the CPU 31 detects that the dividing point _Dk does not exist in the bending portion (not shown) of the insertion portion 11 (step S10 in FIG. 4), the CPU 31 continues the processing in step S11 in FIG.

CPU31 as the insertion stop point estimation unit, in the processing of step S10 in FIG. 4, dividing points D _k is (not shown) of the insertion portion 11 detects the absence of the curved portion, then further dividing points D _k It is detected whether or not the y coordinate takes a maximum value (step S11 in FIG. 4). Note that the y-axis in this embodiment is set as a coordinate axis from the front side of the body cavity (for example, the anal side) to the back side (for example, the stomach side). Also,
Specifically, the CPU 31 sets the y-coordinate values of the five division points located near the division point D _k among the division points D _k−2 , D _k−1 , D _k , D _{k + 1,} and D _{k + 2.} In comparison, when it is detected that the y coordinate value of the dividing point _Dk is the maximum value among the y coordinates of the five dividing points, it is determined that the y coordinate of the dividing point _Dk takes the maximum value. .

When the CPU 31 determines that the y coordinate of the dividing point _Dk has a maximum value (step S11 in FIG. 4), the CPU 31 determines that there is a factor at the dividing point _Dk that stops the insertion operation of the insertion unit 11 by the user. After the division point _Dk is detected as an insertion stop point (step S13 in FIG. 4), the insertion stop point detection process shown in FIG. 4 is terminated. Further, CPU 31, when the y coordinate of the dividing point _{D k} is determined not take a maximum value (step S11 in FIG. 4), sets the split point _{D k-1} adjacent to the distal end portion 14 side from the dividing point _{D k} 4 (step S12 in FIG. 4), the processing in steps S10 and S11 in FIG. 4 is performed again on the division point _Dk-1 .

Thereafter, the CPU 31 detects the insertion stop point in FIG. 4 based on other frame data existing in time series (for example, one to several frames later) from the frame data used in the insertion stop point detection process in FIG. As a process for evaluating the insertion stop point _Dk detected by the process, the insertion stop point evaluation process shown in the flowchart of FIG. 5 is performed.

Based on the other frame data, the CPU 31 obtains the moving speed V _an in the insertion axis direction of the n-th division point D _n existing on the proximal end side in the insertion portion 11 inserted into the subject (see FIG. 5 (step S21), the movement speed _Vak in the insertion axis direction of the insertion stop point _Dk is acquired (step S22 in FIG. 5).

Further, the CPU 31 acquires the movement speed V _k at the insertion stop point D _k based on the other frame data, and _calculates the movement speed V _{rk in the} direction perpendicular to the insertion axis direction at the insertion stop point D _k by the following formula. Calculation is performed using (1) (step S23 in FIG. 5).

その後、ＣＰＵ３１は、移動速度Ｖ_ａｎが閾値Ｔ１よりも大きいか否かを検出する。そして、ＣＰＵ３１は、移動速度Ｖ_ａｎが閾値Ｔ１よりも大きいことを検出した場合（図５のステップＳ２４）、挿入部１１に対して挿入操作がなされていると判定し、後述する図５のステップＳ２５の処理を引き続き行う。また、ＣＰＵ３１は、移動速度Ｖ_ａｎが閾値Ｔ１以下であることを検出した場合（図５のステップＳ２４）、挿入部１１の操作が行われていない状態、または、挿入部１１に対して抜去操作がなされている状態のいずれかであると判定し、図５の一連の処理を終了する。

Then, CPU 31, the moving speed _{V an,} detects greater or not than the threshold value T1. Then, CPU 31, when the moving speed V _an, is detected larger than the threshold T1 (step S24 in FIG. 5), determines that the insertion operation with respect to the insertion portion 11 has been made, the steps of FIG. 5 described later The process of S25 is continued. Further, CPU 31, when detecting that the moving speed _{V an,} is the threshold value T1 or less (step S24 in FIG. 5), the state in which the operation of the insertion portion 11 is not performed, or removal operation on the insertion portion 11 5 is terminated, and the series of processes in FIG. 5 is terminated.

Further, the CPU 31 as the insertion stop point estimation unit detects whether or not the ratio of the movement speed V _ak to the movement speed V _an , that is, the value of V _ak / V _an is less than the threshold value T3. When the CPU 31 detects that the value of V _ak / V _an , which is a value indicating the transmission rate of the moving speed V _an when the insertion unit 11 is inserted, is less than the threshold value T3 (step in FIG. 5). S25) In order to evaluate the insertion stop point _Dk , the process of step S26 of FIG. Further, when the CPU 31 detects that the value of V _ak / V _an is equal to or greater than the threshold T3 (step S25 in FIG. 5), the CPU 31 determines that the extension of the large intestine at the insertion stop point D _k has been eliminated, and FIG. A series of processing ends.

The CPU 31 detects whether or not the ratio of the movement speed V _rk to the movement speed V _an , that is, the value of V _rk / V _an is less than the threshold value T4. When the CPU 31 serving as the notification unit detects that the value of V _rk / V _an is less than the threshold value T4 (step S26 in FIG. 5), it determines that the extension of the large intestine has occurred at the insertion stop point _Dk . At the same time, the first marker as notification information indicating the position of the insertion stop point _Dk is displayed on the display 28 while being superimposed on the insertion shape of the insertion portion 11 in a state as shown in FIG. After performing (step S27 in FIG. 5), the series of processes in FIG. 5 is terminated. When the CPU 31 serving as the notification unit detects that the value of V _rk / V _an is equal to or greater than the threshold value T4 (step S26 in FIG. 5), the CPU 31 is in a state immediately before the large intestine extends at the insertion stop point _Dk . And the second marker as notification information indicating the position of the insertion stop point _Dk is displayed on the display 28 while being superimposed on the insertion shape of the insertion portion 11 as shown in FIG. After the control (step S28 in FIG. 5), the series of processes in FIG. 5 is terminated.

In addition, in each process of step S3 of FIG. 4, step S24 of FIG. 5, and step S25 of FIG. 5, CPU31 is the state in which operation of the insertion part 11 is not performed, and extraction operation was made | formed with respect to the insertion part 11. And a process of hiding each marker displayed on the display 28 when it is determined that the state of the large intestine at the insertion stop point _Dk is canceled. Shall be performed.

  Further, for example, as shown in FIGS. 6 and 7, the CPU 31 causes the large intestine to be stretched by the insertion unit 11 in order to indicate that a large load is applied to the patient due to the large intestine stretching. The display 28 is more prominent than the shape and / or size of the second marker indicating the position immediately before the insertion of the large intestine is caused by the insertion portion 11. It is assumed that it is displayed.

  Furthermore, the insertion stop point detection process shown in FIG. 4 and the insertion stop point evaluation process shown in FIG. 5 of the present embodiment are not limited to this order, and may be performed in the reverse order. good.

  As described above, the living body observation system 1 including the endoscope insertion shape analysis system according to the present embodiment performs a process shown in FIGS. 4 and 5 to determine a position where the large intestine is stretched. It can detect and show to a user, As a result, insertion operation of the insertion part 11 of the endoscope 6 can be made smoother than before.

The CPU 31 is not limited to detecting the position where the large intestine is stretched by the insertion unit 11 based on the moving speed _Vrk in the direction perpendicular to the insertion axis direction at the insertion stop point _Dk . Based on the local radius of curvature at the stop point _Dk, the position where the extension of the large intestine has occurred may be detected by the insertion portion 11. In that case, the CPU 31 checks the insertion stop in FIG. 4 based on other frame data existing in time series (for example, one to several frames later) from the frame data used in the insertion stop point detection process in FIG. As a process for evaluating the insertion stop point _Dk detected by the outgoing process, the insertion stop point evaluation process shown in the flowchart of FIG. 8 is performed (instead of the insertion stop point evaluation process of FIG. 5).

  Here, the details of the insertion stop point evaluation process of FIG. 8 will be described.

Based on the other frame data, the CPU 31 obtains the moving speed V _an in the insertion axis direction of the n-th division point D _n existing on the proximal end side in the insertion portion 11 inserted into the subject (see FIG. 8 step S31 in), to calculate a local curvature radius _{R k} at the insertion stop point _{D k} (step S32 in FIG. 8). The local curvature radius R _{k at} the insertion stop point D _k can be calculated by using, for example, the first and second differential values of the Catmull-Rom curve equation.

Then, CPU 31, the moving speed _{V an,} detects greater or not than the threshold value T1. Then, CPU 31, when the moving speed V _an, is detected larger than the threshold T1 (step S33 in FIG. 8), determines that the insertion operation with respect to the insertion portion 11 has been made, the steps of FIG. 8 to be described later The process of S34 is continued. Further, CPU 31, when detecting that the moving speed _{V an,} is the threshold value T1 or less (step S33 in FIG. 8), the state in which the operation of the insertion portion 11 is not performed, or removal operation on the insertion portion 11 Is determined to be one of the states, and the series of processes in FIG.

Further, the CPU 31 detects whether or not the local curvature radius R _{k at} the insertion stop point D _k is less than the threshold value T5. If the CPU 31 detects that the local radius of curvature R _{k at} the insertion stop point D _k is less than the threshold value T5 (step S34 in FIG. 8), the CPU 31 continues to perform the process in step S35 in FIG. Further, the CPU31, when the local radius of curvature R _k at the insertion stop point D _k is detected to be the threshold value T5 or more (step S34 in FIG. 8), the extension of the large intestine at the insertion stop point D _k has been eliminated Determination is made, and the series of processes in FIG.

Thereafter, the CPU 31 as the notification unit detects whether or not the local radius of curvature R _{k at} the insertion stop point D _k is less than a threshold T6 (T6 <T5). When the CPU 31 detects that the local radius of curvature R _{k at} the insertion stop point D _k is less than the threshold value T6 (step S35 in FIG. 8), the large intestine is stretched at the insertion stop point D _k . And the control to display the first marker as the notification information indicating the position of the insertion stop point _{Dk on} the display 28 (step S36 in FIG. 8), and then the series of processes in FIG. To do. Further, CPU 31 as the notification section, if the local curvature radius R _k at the insertion stop point D _k is detected to be the threshold value T6 or higher (step S35 in FIG. 8), colon at the insertion stop point D _k extension After determining that the state is immediately before the start, and performing control for displaying the second marker as the notification information indicating the position of the insertion stop point _{Dk on} the display 28 (step S37 in FIG. 8), FIG. The series of processes is terminated.

In addition, in each process of step S33 of FIG. 8 and step S34 of FIG. 8, CPU31 is the state in which operation of the insertion part 11 is not performed, the state in which extraction operation is made | formed with respect to the insertion part 11, and insertion When it is determined that any of the states in which the extension of the large intestine at the stop point _Dk has been eliminated, a process of hiding each marker displayed on the display 28 is also performed.

  Further, in order to indicate that a large load is applied to the patient due to the expansion of the large intestine, for example, the CPU 31 sets a position where the expansion of the large intestine is generated by the insertion unit 11 as shown in FIG. The shape and / or size of the first marker shown is displayed on the display 28 so as to be more conspicuous than the shape and / or size of the second marker showing the position immediately before the insertion of the large intestine occurs in the large intestine. Suppose it is a thing.

  Furthermore, the insertion stop point detection process shown in FIG. 4 and the insertion stop point evaluation process shown in FIG. 8 of the present embodiment are not limited to this order, and may be performed in the reverse order. good.

  As described above, the living body observation system 1 including the endoscope insertion shape analysis system according to the present embodiment performs a process shown in FIGS. 4 and 8 to determine the position where the large intestine is stretched. It can detect and show to a user, As a result, insertion operation of the insertion part 11 of the endoscope 6 can be made smoother than before.

  Note that the first marker and the second marker described above are not limited to graphics, and may be, for example, a character string or a graph that can notify the user of extension of the large intestine. Further, the first marker and the second marker described above may be configured such that the display state changes stepwise in accordance with the stretched state of the large intestine.

  In addition, the CPU 31 of the present embodiment is not limited to performing only one of the insertion stop point evaluation processes shown in FIGS. 5 and 8, and in order to improve the detection accuracy of colonic extension, for example, Both insertion stop point evaluation processes may be performed simultaneously by parallel processing, and the position where the extension of the large intestine has occurred may be evaluated based on the result of the parallel processing.

  Note that the present invention is not limited to the above-described embodiments, and various modifications and applications can be made without departing from the spirit of the invention.

The figure which shows an example of a structure of the principal part of the biological observation system which concerns on embodiment of this invention. The figure which shows the coordinate of the source coil provided in the insertion part of the endoscope of FIG. 1 detected in the endoscope insertion shape detection apparatus of FIG. The figure which shows the outline | summary of the insertion shape data produced | generated in the endoscope insertion shape detection apparatus of FIG. The figure which shows the outline | summary of the data and information which are contained in each frame data of FIG. 3A. The figure which shows the outline | summary of the three-dimensional coordinate data contained in the coil coordinate data of FIG. 3B. 2 is a flowchart illustrating an example of processing performed when an insertion stop point is detected in the image processing apparatus of FIG. 1. 5 is a flowchart illustrating an example of processing performed when an insertion stop point detected by a series of processing in FIG. 4 is evaluated in the image processing apparatus in FIG. 1. The figure which shows an example of the 1st marker displayed on a display according to the process result of a series of processes of FIG. The figure which shows an example of the 2nd marker displayed on a display according to the process result of a series of processes of FIG. FIG. 6 is a flowchart illustrating an example different from FIG. 5 of processing performed when evaluating the insertion stop point detected by the series of processing of FIG. 4 in the image processing apparatus of FIG. 1.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Living body observation system, 2 ... Endoscope apparatus, 3 ... Endoscope insertion shape detection apparatus, 4 ... Image processing apparatus, 6 ... Endoscope, 7 ... Light source Device: 8 ... Video processor, 8a, 21a, 25a, 25b ... Communication port, 9 ... Monitor, 11 ... Insertion unit, 12 ... Operation unit, 13 ... Light guide, 14 ... tip part, 15 ... objective lens, 16 ... image sensor, 19 ... sense coil unit, 21 ... shape processing device, 22, 28 ... display, 25c ... moving image Input board, 26 ... mouse, 27 ... keyboard, 31 ... CPU, 32 ... processing program storage unit, 33 ... memory, 33a ... frame data, 33b ... analysis data, 33c ... Insert shape analysis information, 34 ... Hard data Disk, 35 ... bus line

Claims (3)

An insertion shape detection unit that detects an insertion shape of the insertion unit based on coordinate values of a plurality of locations in the insertion unit of the endoscope inserted into the subject;
An insertion shape dividing unit that generates a line segment according to the insertion shape and sets a plurality of division points on the line segment;
Based on the moving speed on the proximal end side of the insertion portion, it is detected whether or not an insertion operation is performed on the insertion portion, and among the plurality of division points, the coordinate value on a predetermined coordinate axis is locally An insertion stop point estimator that detects one division point that has a maximum and the transmission rate of the moving speed that varies with the insertion operation is less than a predetermined threshold;
An endoscope insertion shape analysis system characterized by comprising: An insertion shape detection unit that detects an insertion shape of the insertion unit based on coordinate values of a plurality of locations in the insertion unit of the endoscope inserted into the subject;
An insertion shape dividing unit that generates a line segment according to the insertion shape and sets a plurality of division points on the line segment;
Based on the moving speed in the insertion axis direction on the base end side of the insertion portion, it is detected whether or not an insertion operation is performed on the insertion portion, and the coordinate value on a predetermined coordinate axis among the plurality of division points An insertion stop point estimation unit that detects one division point at which the local curvature radius that is locally maximal and fluctuates with the insertion operation is less than a predetermined threshold;
An endoscope insertion shape analysis system characterized by comprising:   2. The information processing apparatus according to claim 1, further comprising a notification unit that performs a process for outputting notification information to the display unit to indicate that the large intestine in the subject is extended at the one division point. Or the endoscope insertion shape analysis system of Claim 2.

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